Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent high cost, with few commercially available options, which limits general access research on RMIS. We aim take...

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots limited to simple, repetitive motions due poor integration between language models, robots, and environment. This paper proposes a novel approach enhance performance autonomous manipulation through Human-Robot Collaboration (HRC). The involves using prompted GPT-4 model decompose high-level commands into sequences that can be executed by robot. system also employs YOLO-based perception...

<title>Abstract</title> Anaerobic ammonium oxidation (anammox) is currently recognized as the most cost-effective process for wastewater nitrogen removal. In this study, effects of volcanic rock, polyurethane sponge, fiber balls, and nylon fibers stationary carriers, well composite packing consisting sponge fibers, were evaluated in lab-scale fixed-bed biofilm reactors. The overall performance reactors with four types carriers from priority to inferiority was noticed as, rock using...

Tissue triangulation is a fundamental surgical skill in laparoscopic surgery that requires the simultaneous control of multiple tools to create tension and enable tissue visualization. Robotic assistants can facilitate tasks by autonomously operating some tools, reducing surgeon's cognitive workload improving precision safety. However, characterizing complex dynamics significant challenge for robot-assisted triangulation. This work presents Latent Regression based Model Predictive Control...

Low-temperature environment leads to a weakened ability of sludge bio-drying drive system evaporation and the system's water removal capacity aeration (ΣF·ΔP), significantly reducing rate consequent decrease index. The maintains more microorganisms active by inoculating with thermophilic bacteria produce heat when it reaches above 55 °C enhance temperature cumulation ΣF·ΔP remove moisture shorten time rapidly. results showed that percentage period (T ≥ °C) hyperthermophile 70...

Remote teleoperation has shown significant advancements since the first system was proposed by Goertz in 1940s. In recent years, research on shared control methodologies which robot assists operators accomplishing desired tasks gained extensive attention. One such important task is object grasping. this paper, we propose a framework to enhance teleoperated grasping performance. The built upon virtual reality device-based direct system. framework, template matching-based point cloud...

Abstract Wearable body weight support systems can assist individuals with mobility impairments in performing daily living activities greater ease and independence. However, existing have limitations terms of balancing their strength, compact size, interaction the ground, driving. In this paper, we present High-Strength Flexible Mechanism (HSFM) designed for support. The HSFM utilizes a coiling truss mechanism to perform flexible transformation between straight spiral shape. Its complex...

Abstract Robotic teleoperation is highly valued for its ability to remotely execute tasks that demand sophisticated human decision-making or are intended be carried out by operators from a distance. However, when using the internet as communication framework teleoperation, high latency, and fluctuations make accurate positioning time-dependent difficult. To mitigate negative effects of time delay, this paper proposes system uses cross reality (XR) predictive display outcome operators’...

Wearable robotic limbs support sit-to-stand (STS) transfer with increased stability while maintaining a compact size, as well providing body weight support. This paper proposes new limb, Variable Grounding Flexible Limb (VGFL). The VGFL achieved novel strategy in which its grounding point tracks the forward shift of wearer's center gravity (CoG) during STS. Since keeps distance between and CoG close, an upward force can efficiently work for STS assistance. To implement strategy, this...

Robotic teleoperation with force feedback has been studied extensively since it was first developed in the 1940 s. Time delay is a common problem of bilateral systems. Although many efforts on optimizing control architectures have made, there always trade-off between transparency and stability for systems, perfect can only be achieved simultaneously ideal situations. In this letter, we propose novel approach to compensate degraded while using conventional passivity-based maintain system...

Robotic exoskeletons, which assist in stand-to-kneel and kneel-to-stand (STK-KTS) movements static kneeling postures are great demand the nursing field. This movement involves continuous adjustment of center gravity without a sufficient support polygon, enhances required joint effort ankle knee. study proposes novel passive lower limb exoskeleton to movement. The was attached right leg comprised gas spring. design followed an assistive strategy expanded polygon. During STK-KTS, spring...

Recently, wearable extra robotic limbs that aim to enhance the functionality and capability of human operators as arms or fingers have become an active research subject among robotics researchers. Improving operability is required for operators, approach which induce embodiment. In this paper, we focus on update sense self-location key aspect embodiment contributes body representation update, elucidate dominant factors thumb (ERT). The experiments are conducted compare performance reaching...

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed system combines advantage LLM with YOLO-based environmental perception enable robots autonomously make reasonable decisions and task planning based on given commands. Additionally, address potential inaccuracies or illogical actions arising from LLM,...

Hyperthermophilic bio-drying has stronger organic matter degradation and drying ability than the conventional bio-drying. However, ammonia emissions during hyperthermophilic are significantly higher those process due to temperature pH value. Phosphate been reported reduce composting. Meanwhile, both of addition phosphate buffer can promote formation EPS. EPS exhibits strong passivation adsorption properties for heavy metals pollutants, thus positively impacting control pollution in products....

There is a growing need for robots that can be remotely controlled to perform tasks of one's own choice. However, the SoA (Sense Agency: sense recognizing motion an observed object caused by oneself) reduced because subject robot identified as external due shared control. To address this issue, we aimed suppress decline in presenting auditory feedback aims blur distinction between self and others. We performed tracking task virtual environment under four different conditions, with varying...

The relative-posture-fixed human following is critical for the human-robot interaction and cooperation in daily scenes such as domestic service healthcare. However, few of previous researches have discussed difficulties faced by mobile robots real world, including limitation sensing range hindrance from obstacles. For practicality, this paper we investigate control with collision avoidance visibility constraints. task formulated a receding-horizon optimization problem solved under Nonlinear...

In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks compensate for environmental uncertainties and imprecise motion execution. Although many researchers have been trying solve problems using mathematical modeling or learning-based approaches, remain as open challenges. On other hand, humans in-hand with remarkable precision speed. Hence, solution could be provided by making full use this intrinsic human...

The dynamic load attached to the gravity imposes an excessive burden human shoulders during carriage, resulting in possible muscle injuries and additional physical exertion. This paper proposes active suspension backpack, capable of transferring partial from pelvis alleviating through separated panels motor actuation, reduce pressure on improve walking metabolic efficiency. Based body motion vertical direction, dynamical model human-backpack system with shoulder interaction force measured by...